diff --git a/components/canbus/esp32_can.rst b/components/canbus/esp32_can.rst
index bc973f08e2..2dbd41d33b 100644
--- a/components/canbus/esp32_can.rst
+++ b/components/canbus/esp32_can.rst
@@ -26,6 +26,8 @@ Configuration variables:
 
 - **rx_pin** (**Required**, :ref:`Pin <config-pin>`): Receive pin.
 - **tx_pin** (**Required**, :ref:`Pin <config-pin>`): Transmit pin.
+- **rx_queue_len** (**Optional**, int): Length of RX queue.
+- **tx_queue_len** (**Optional**, int): Length of TX queue, 0 to disable.
 - All other options from :ref:`Canbus <config-canbus>`.
 
 .. _esp32-can-bit-rate: